{"id":440,"date":"2019-07-26T17:34:40","date_gmt":"2019-07-26T17:34:40","guid":{"rendered":"https:\/\/peterklemperer.com\/blog\/?p=440"},"modified":"2019-07-26T17:40:25","modified_gmt":"2019-07-26T17:40:25","slug":"indoor-mobile-robot-localization","status":"publish","type":"post","link":"https:\/\/peterklemperer.com\/blog\/2019\/07\/26\/indoor-mobile-robot-localization\/","title":{"rendered":"Indoor Mobile-Robot Localization"},"content":{"rendered":"\n<p>The RomiPi project currently uses Aruco Tags for localization! While highly accurate, there are several limitations: cameras and vision are expensive, and visual obstructions limit use of cameras for certain carrying tasks. This pose will document various technologies and products in:<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>Accuracy<\/li><li>Measurement Basis<\/li><li>Relevant limitations for the RomiPi mobile robot platform<\/li><\/ul>\n\n\n\n<p>The release of Bluetooth 5.1&#8217;s support for angle of arrival will likely blow this space wide open. I plan to update this as more details arrive.<br><\/p>\n\n\n\n<table class=\"wp-block-table is-style-regular\"><tbody><tr><td>Technology<\/td><td>Products<\/td><td>Basis<\/td><td>Accuracy<\/td><td>Description<\/td><\/tr><tr><td>IMU<\/td><td>Adafruit, Bosch<\/td><td>Relative movement<\/td><td><\/td><td>Fast updates, drifts over time<\/td><\/tr><tr><td>Optical Flow<\/td><td>PixArt<\/td><td>Visual movement<\/td><td>1 cm<\/td><td>only X,Y. Issues with lighting, surface, distance to surface.<\/td><\/tr><tr><td>Bluetooth RSSI<\/td><td>Estimote, iBeacon, <\/td><td>Trilateration<\/td><td>10-100 cm<\/td><td>Poor accuracy<\/td><\/tr><tr><td>Bluetooth Angle<\/td><td>Texas Instruments<\/td><td>Triangulation<\/td><td>1 deg<\/td><td>Not released yet, requires multi-antenna sensor<\/td><\/tr><tr><td>UWB <\/td><td>Decawave<\/td><td>Trilateration<\/td><td>10 cm<\/td><td>Accuracy limited for Formations, better than BT RSSI though.<\/td><\/tr><\/tbody><\/table>\n\n\n\n<h3 class=\"wp-block-heading\">Relevant ROS Packages\/Stacks<\/h3>\n\n\n\n<ul class=\"wp-block-list\"><li><a href=\"http:\/\/wiki.ros.org\/indoor_localization\">Indoor_Localization Stack<\/a><\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Intertial Measurement Unit (IMU)<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">IMU Readings<\/h3>\n\n\n\n<ul class=\"wp-block-list\"><li><a href=\"https:\/\/github.com\/kriswiner\/EM7180_SENtral_sensor_hub\/wiki\/A.-A-Short-Survey-of-Sensor-Fusion-Solutions\">Survey of IMU Sensor Fusion Solutions:&nbsp;this&nbsp;wiki&nbsp;is&nbsp;full&nbsp;of&nbsp;good&nbsp;information<\/a><\/li><li><a href=\"https:\/\/github.com\/kriswiner\/MPU6050\/wiki\/Hardware-Sensor-Fusion-Solutions\">Notes&nbsp;on&nbsp;Accuracy&nbsp;of&nbsp;IMUs<\/a><\/li><\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">IMU Products<\/h3>\n\n\n\n<ul class=\"wp-block-list\"><li><a href=\"https:\/\/www.robotshop.com\/en\/bno055-9-dof-absolute-orientation-imu-fusion-breakout-board.html\">Bosh BNO055 &#8211; Carrier by Adafruit $38<\/a><\/li><li><a href=\"https:\/\/www.tindie.com\/products\/onehorse\/ultimate-sensor-fusion-solution-mpu9250\/\">&#8220;Ultimate Sensor Fusion Solution&#8221; $38<\/a><\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Optical Flow Products<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li><a href=\"https:\/\/www.tindie.com\/products\/onehorse\/pmw3901-optical-flow-sensor\/\">PixArt Carrier Board $38<\/a><\/li><\/ul>\n\n\n\n<p>UWB Products<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li><a href=\"https:\/\/www.decawave.com\/product-documentation\/\">Decawave DW1000 Dev Module $39<\/a> (<a href=\"https:\/\/www.digikey.com\/product-detail\/en\/decawave-limited\/DWM1001-DEV\/1479-1005-ND\/7394533\">Digikey<\/a>)<\/li><li><a href=\"https:\/\/store.bitcraze.io\/collections\/bundles\/products\/indoor-explorer-bundle\">LocoNode (Decawave-based)<\/a><\/li><li> <\/li><\/ul>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>The RomiPi project currently uses Aruco Tags for localization! While highly accurate, there are several limitations: cameras and vision are expensive, and visual obstructions limit use of cameras for certain carrying tasks. This pose will document various technologies and products &hellip; <a href=\"https:\/\/peterklemperer.com\/blog\/2019\/07\/26\/indoor-mobile-robot-localization\/\">Continue reading <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"jetpack_post_was_ever_published":false,"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":true,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[6,80,1],"tags":[],"class_list":["post-440","post","type-post","status-publish","format-standard","hentry","category-projects","category-robotics","category-uncategorized"],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"","jetpack_shortlink":"https:\/\/wp.me\/p1VqWo-76","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/posts\/440","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/comments?post=440"}],"version-history":[{"count":0,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/posts\/440\/revisions"}],"wp:attachment":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/media?parent=440"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/categories?post=440"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/tags?post=440"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}